Dev Call April 17, 2023

CraigElder · April 17, 2023, 10:14pm

**Issues & Pull Requests"

github.com/ArduPilot/ardupilot

ArduPlane: make Plane use more of RC_Channel library for mode switching

ArduPilot:master ← peterbarker:pr/plane-mode-switch-up

opened 01:33AM - 14 Jul 22 UTC

peterbarker

+49 -53

- debouncing is left up to the RC_Channel/s main library - this will change …the debounce time to be like Rover/Copter (200ms vs 2 calls to `read_control_switch` @100Hz) - Plane still has a weird "freshness" check on RC input which we can consider removing (or moving up?) in the future. - removes a TODO! - removes duplicate range definitions for mode channel (6-position-switch ranges) - functions which have changed namespace need to be moved in a future PR to ArduPlane/RC_Channels.cpp - removes a bunch of lines - which is hidden because of the added autotest

github.com/ArduPilot/ardupilot

AP_Motors: move Thrust Linearization functions and variables to own class

ArduPilot:master ← IamPete1:ddfp-tail-shared-methods

opened 02:03AM - 31 Jan 23 UTC

IamPete1

+235 -191

Moves functions and code to new class for easier use by others in the future. ht…tps://github.com/ArduPilot/ardupilot/pull/22661 Since I was moving the code I also took the opportunity for motors ask baro for air density ratio directly rather than having the vehicles set it into motors.

github.com/ArduPilot/ardupilot

GCS_MAVLink: deprecate use of MISSION_SET_CURRENT message

ArduPilot:master ← peterbarker:pr/deprecate-mission-current

opened 10:19AM - 16 Mar 23 UTC

peterbarker

+21 -0

The mavlink command MAV_CMD_DO_SET_MISSION_CURRENT has been in place since Janua…ry 2019 and is superior to this. ArduPilot has had support since 2021 (4.1.x but not 4.0.x) We have to get GCSs to move forward! Before we can do that PX4 has to support the command. A GCS could try the command and if it gets back an UNSUPPORTED try the message instead. I'm not intending tthe message to be technically deprecated any time soon - raising for discussion on DevCall to make sure people are OK with me putting out an announcement on ArduPilot's GCS maintainers list suggesting people move to the command in their GCSs rather than the message. Eventually this will save ~240 bytes on MatekF405-Wing when we can remove support for this message.

github.com/ArduPilot/ardupilot

AP_Compass: use new vector methods to make for more compact code

ArduPilot:master ← peterbarker:pr/compass-consistent-rewrite

opened 03:00PM - 24 Mar 23 UTC

peterbarker

+7 -19

The check for zero-length magnetic field on the primary is redundant given the o…ne on the loop I tested this by printing the values calculated by the new method with those by the old and making sure they matched. Builds are a little larger on the smaller boards as this now includes the se angle methods: ![image](https://user-images.githubusercontent.com/7077857/227527899-acf4165f-d6db-4f6b-af3f-0d4e7688b559.png) A few more uses of those will make this a net win on those boards. Plane already uses one of those methods so it's already a saving on that vehicle. ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub Durandal -96 * -72 -72 -200 -72 -80 HerePro -104 Hitec-Airspeed * KakuteH7-bdshot -64 * -40 -48 -168 -40 -48 MatekF405 40 * 56 56 -72 56 56 Pixhawk1-1M-bdshot 32 56 56 -72 56 56 f103-QiotekPeriph * f303-Universal * iomcu * revo-mini 40 * 56 56 -64 56 56 skyviper-v2450 56 ```

github.com/ArduPilot/ardupilot

.pre-commit: Enfore code style for AP_DDS

ArduPilot:master ← Ryanf55:add-black-formatter-for-ap-dds

opened 03:18AM - 12 Apr 23 UTC

Ryanf55

+6 -1

This enforces black code style in AP_DDS. Black is nice because it can run in… CI, as well as run in editor, without a user manually modifying their code to satisfy the linter. Since black is cross-platform, and the version is specified as 23.1.0, everyone edits with the same version. The next step would be to enforce the same rules in CI because pre-commit hooks are not mandatory. Question for maintainers - is there going to be any conflict by formatting AP_DDS to this code style with the other tooling in the repo?

github.com/ArduPilot/ardupilot

AP_Camera: add zoom percent control

ArduPilot:master ← rmackay9:camera-viewpro-zoom-pos2

opened 01:04AM - 13 Apr 23 UTC

rmackay9

+191 -120

This enhances AP_Camera to support a new "percentage" zoom type. E.g. the user …can specify they would like the camera to zoom to a percentage (expressed as a value from 0 to 100%) of its maximum. For now only the MAVLinkCamV2 and Scripting backends (e.g. ViewPro) make use of this feature. The Siyi ZR10 can apparently also support this feature but I haven't done this yet because it shares a driver with the Siyi A8 which doesn't have this ability. There are two questionable parts to this PR: - [ ] The AP_Camera::ZoomType enum is separate from MAVLink's ZOOM_TYPE enum to reduce dependency on MAVLink (a hopeless cause?) but for whatever reason I kept the enumerator values the same between the two - [x] The AP_Camera camera_state_t structure is currently declared outside the AP_Camera class because I ran into some issues with Scripting bindings. This means I needed to declare its zoom_type field as a uint8_t instead of as a AP_Camera::ZoomType. I think I can fix this though. Below is an screenshot from a test in which the SET_CAMERA_ZOOM command was used to zoom a ViewPro camera to 25% of its maximum. ![image](https://user-images.githubusercontent.com/1498098/231618149-fdbdc79a-58e6-4efe-90f2-da35ed64b5d2.png) The command can also be sent as a real-time command from a GCS so that a user can be presented with a slider from 0% to 100% instead of (or in addition to) "zoom in", "zoom out" buttons. This has been tested on a ViewPro and a Siyi A8. I will ask the Gremsy engineers to confirm this works with the ZIO camera as well.

github.com/ArduPilot/ardupilot

AP_GPS_NMEA: fix stringop truncation failure on g++ 9

ArduPilot:master ← peterbarker:pr/stringop-truncation

opened 10:10PM - 13 Apr 23 UTC

peterbarker

+1 -1

```../../libraries/AP_GPS/AP_GPS_NMEA.cpp: In member function 'void AP_GPS_NMEA:…:parse_versiona_field(uint16_t, const char*)': ../../libraries/AP_GPS/AP_GPS_NMEA.cpp:787:16: error: 'char* strncpy(char*, const char*, size_t)' output may be truncated copying 19 bytes from a string of length 29 [-Werror=stringop-truncation] 787 | strncpy(v.version, _term, sizeof(v.version)-1); | ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ compilation terminated due to -Wfatal-errors. cc1plus: all warnings being treated as errors ``` ``` pbarker@fx:~/rc/ardupilot(pr/AP_RANGEFINDER_ENABLED)$ arm-none-eabi-g++ --version arm-none-eabi-g++ (GNU Tools for Arm Embedded Processors 9-2019-q4-major) 9.2.1 20191025 (release) [ARM/arm-9-branch revision 277599] ```

github.com/ArduPilot/ardupilot

AP_Periph: use CopyFieldsFrom in CAN parameters

ArduPilot:master ← peterbarker:pr/periph-can-copyfields

opened 12:21AM - 14 Apr 23 UTC

peterbarker

+5 -21

Just some field reordering in the output: ``` pbarker@fx:~/rc/ardupilot(mast…er)$ diff -u apm.pdef.xml apm.pdef.xml-new --- apm.pdef.xml 2023-04-14 10:19:50.930351254 +1000 +++ apm.pdef.xml-new 2023-04-14 10:19:37.934244084 +1000 @@ -38,6 +38,7 @@ <field name="RebootRequired">True</field> </param> <param humanName="Enable use of specific protocol to be used on this port" name="AP_Periph:CAN2_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver. At least one CAN port must be UAVCAN or else CAN1 gets set to UAVCAN" user="Advanced"> + <field name="RebootRequired">True</field> <values> <value code="0">Disabled</value> <value code="1">UAVCAN</value> @@ -47,13 +48,13 @@ <value code="7">USD1</value> <value code="8">KDECAN</value> </values> - <field name="RebootRequired">True</field> </param> <param humanName="Bitrate of CAN3 interface" name="AP_Periph:CAN3_BAUDRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced"> <field name="Range">10000 1000000</field> <field name="RebootRequired">True</field> </param> <param humanName="Enable use of specific protocol to be used on this port" name="AP_Periph:CAN3_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver. At least one CAN port must be UAVCAN or else CAN1 gets set to UAVCAN" user="Advanced"> + <field name="RebootRequired">True</field> <values> <value code="0">Disabled</value> <value code="1">UAVCAN</value> @@ -63,7 +64,6 @@ <value code="7">USD1</value> <value code="8">KDECAN</value> </values> - <field name="RebootRequired">True</field> </param> <param humanName="Enable CANFD mode" name="AP_Periph:CAN_FDMODE" documentation="Enabling this option sets the CAN bus to be in CANFD mode with BRS." user="Advanced"> <values> @@ -83,6 +83,7 @@ <field name="RebootRequired">True</field> </param> <param humanName="Set up bitrate for data section on CAN2" name="AP_Periph:CAN2_FDBAUDRATE" documentation="This sets the bitrate for the data section of CAN2." user="Advanced"> + <field name="RebootRequired">True</field> <values> <value code="1">1M</value> <value code="2">2M</value> @@ -90,7 +91,6 @@ <value code="5">5M</value> <value code="8">8M</value> </values> - <field name="RebootRequired">True</field> </param> <param humanName="Trigger bootloader update" name="AP_Periph:FLASH_BOOTLOADER" documentation="DANGER! When enabled, the App will perform a bootloader update by copying the embedded bootloader over the existing bootloader. This may take a few seconds to perform and should only be done if you know what you're doing." user="Advanced"> <field name="Range">0 1</field> ```

github.com/ArduPilot/ardupilot

Tidy use-external-baros

ArduPilot:master ← peterbarker:pr/probe-external-baros-tidy

opened 05:57AM - 14 Apr 23 UTC

peterbarker

+16 -25

Note the weirdism around ``` Board AP_Periph Durandal HerePro * Hitec-Airspeed * KakuteH7-bdshot MatekF405 Pixhawk1-1M-bdshot -16 f103-QiotekPeriph * f303-Universal * iomcu revo-mini skyviper-v2450 ``` A lot fo These are the boards whose ``` Board AP_Periph F35Lightning FlywooF745Nano JHEMCU-GSF405A KakuteF7 MatekF405 MatekH743-periph * SuccexF4 f303-Universal * revo-mini revo-mini-i2c speedybeef4 ``` checking definition of `AP_BARO_MSP_ENABLED` - which wi…ll always be defined... blimp bootloader copter heli iofirmware plane rover sub * * * * * * * * * * * * * * 0 * 0 -8 -8 0 -8 -16 -16 -24 -16 -16 * -16 * -16 -16 -16 -16 -16 * hwdefs are being modified. They seem to hae been setting this for no particularly good reason as they were getting the feature anyway. blimp bootloader copter heli plane rover sub 0 * -8 -8 0 0 0 -8 * -8 -8 0 0 -8 -8 * -8 -8 -8 -8 -8 8 * 8 16 8 16 16 0 * 0 -8 -8 0 -8 -8 * -8 -8 -8 -8 -8 -16 * -16 -16 -16 -16 -16 -8 * -8 -8 -8 -8 -8 0 * 0 0 -8 0 -8

github.com/ArduPilot/ardupilot

AP_DroneCAN: add lenght specifier to format print to keep g++ 7.5.0 happy

ArduPilot:master ← IamPete1:fix_75_compiller_error

opened 11:42PM - 14 Apr 23 UTC

IamPete1

+1 -1

Fixes: ``` ../../libraries/AP_DroneCAN/AP_DroneCAN.cpp:190:6: error: ‘%u’ dire…ctive output may be truncated writing between 1 and 10 bytes into a region of size 4 [-Werror=format-truncation=] ``` Related to: ``` snprintf(_thread_name, sizeof(_thread_name), "dronecan_%u", driver_index); ``` Problem seems semi genuine, `_thread_name` is only 13 characters long `dronecan_` takes up 9 so the warning is that were trying to print a uint32 with `u` but only have 4 characters left. The fix is to add the length specifier `hh` so the compiler knows its a uint8 not a uint32. I guess newer compilers are clever enough to know its a uint8 from inspection of the variable rather than only the format string. In any case this means I don't have to update my compiler to build SITL.

github.com/ArduPilot/ardupilot

Add convenient Quaternion::to_euler(Vector3f &rpy)

ArduPilot:master ← peterbarker:pr/create-quat-from-rpy

opened 12:57AM - 16 Apr 23 UTC

peterbarker

+25 -22

This isn't an exhaustive list of changes to the calls - there's quite a few more… in the EKFs, for example. (also adds the double equivalent) ``` Board AP_Periph blimp bootloader copter heli iofirmware plane rover sub Durandal 0 * 8 0 8 8 8 HerePro 0 Hitec-Airspeed * KakuteH7-bdshot 0 * -80 -80 -80 0 -80 MatekF405 8 * -72 -80 -80 0 -80 Pixhawk1-1M-bdshot * -80 -80 -80 * -80 f103-QiotekPeriph * f303-Universal * iomcu * revo-mini 8 * -80 -80 -80 8 -80 skyviper-v2450 -80 ```

Plane

github.com/ArduPilot/ardupilot

Plane: stable 4.4.x issues list

opened 03:33AM - 01 Dec 20 UTC

tridge

Plane VTOL-Plane DevCallTopic ReleaseAdmin

This is an issue to gather key issues for the plane 4.2 release - [ ] display …message on pilot override active in VTOL pos controller (can prevent descent stage) - [ ] default TECS_LAND_ARSPD to mid-point of cruise and min airspeed - [ ] ATT.DesPitch and ATT.Pitch need to use the same pitch reference (ie. TRIM_PITCH_CD) - [ ] work out why 2048 byte reads in #23455 failed - [x] allow clear mission when disarmed in AUTO ? - [ ] add waf docs target? - [x] possible bug in RTSCTS? - [ ] Q_M_PWM_TYPE set in defaults.parm in ROMFS doesn't work for DS150 - [ ] GSF yaw errors: https://github.com/ArduPilot/ardupilot/issues/23224 - [x] mission on sdcard - [ ] more flexible M10 config: https://www.rcgroups.com/forums/showpost.php?p=50442153&postcount=8212 - [x] fix pitch limit in FBWA for transition: https://github.com/ArduPilot/ardupilot/pull/22730 - [ ] after a bounce off the ground, PIQA.I can peg high (seen in Alia model) - [ ] switching to RTL when in landing sequence to cope with VTOL motor start fail doesn't change to fw mode - [ ] ARSPD_TUBE_ORDER=3 to auto-detect order - [ ] MS4525 probe all buses not working in 4.3 after update from 4.2 - [ ] rudder arming causes yaw in AUTO takeoff #22665 - [ ] VTOL approach can turn overshoot if WP_LOITER_RAD is small - [ ] COMPASS_DIA_X of zero not treated as 1.0 #22666 - [x] level cal not clearing 3d accel cal needed msg? - [ ] CubeOrangePlus param diff BAT*PIN doesn't show changes - [ ] not using full throttle in non-airspeed takeoff: https://github.com/ArduPilot/ardupilot/issues/22572 - [ ] random voltages with voltage pin -1 - [ ] large over-tune can cause VTOL controller to climb-away, possibly lower default SMAX? - [x] with RTL autoland: Mode change to AUTO denied, in fence recovery - [x] MS5607 sub for MS5611 for Pixhawk1 Marco - [ ] annoying msg Cannot calibrate with Q_TRIM_PITCH set - [ ] not fully resetting tdrag takeoff state on new takeoff - [ ] ICE idle governor in Q modes while disarmed - [ ] Camera gimbal settings seem to be gone from QGC with Plane 4.3. ? (from fredrikfalkman) - [x] receive DO_AUX_FUNCTION in lua scripts - [ ] need better BVLOS advice and testing: https://github.com/ArduPilot/ardupilot/issues/21876 - [ ] throttle slew limit when re-starting engine on RPM outage - [ ] reduce XY gains when rate gains activate Dmod? - [ ] incorrect CRSFv2 detection: 2022-10-02 14:07:47.120 CRSFv2: requesting RX device info - [ ] remove loop rate dependency on power limit for fixed wing - [ ] limit integetrator buildup longer for catapult launch - [ ] allow idle governor to control ICE idle in Q modes when disarmed - [x] scale down rate PIDs during back-transiton based on airspeed? - [ ] auto-lower pos controller gains when have attitude error? - [ ] should use EKF height and vertical velocity estimate not DCM on loss of GPS when in quadplane mode - [ ] add package drop support - [ ] always allow at least 10 deg roll limit for fixed wing - [ ] add arming check for VTOL I gain <= P gain on roll/pitch - [ ] motors spin sometimes on soft reboot of HWing - [ ] test ublox fw update with passthru - [ ] before triggering Q_ASSIST_SPEED, check EKF fusion of airspeed, if not fusing, delay assist speed - [ ] add mission and fence extraction to MAVExplorer - [ ] add tailsitter tune param for P, I, D sequence - [ ] option for median filter between synthetic airspeed and dual-airspeed - [ ] re-load mission on arming in AUTO? See https://discuss.ardupilot.org/t/striver-mini-vtol-4-1-quadplane/71805/185?u=tridge - [ ] rapid switching between EKF and DCM on baro error: https://discuss.ardupilot.org/t/excessive-ekf3-dcm-switching-in-plane-4-1-6/82966/5 - [ ] look at methods of handling flash parity errors on H7, possibly using HW CRC - [ ] obey primary sensors with EK3_AFFINITY - [ ] motors spinning when they shouldn't? https://github.com/ArduPilot/ardupilot/issues/16630 - [ ] force arm bypass of logging start and fence auto-enable - [ ] need force_descend change for quadplane: #17824 - [ ] surface control while booting not working: #17966 Features for later 4.2.x releases: - [ ] sort out CAN baro ordering for plane, maybe option bit in BARO_OPTIONS, on plane default to can baro last - [ ] support rangefinder correction of AP_Terrain data, with configurable time constant

Copter

github.com/ArduPilot/ardupilot

Copter/Rover-4.3 issues list

opened 11:50PM - 12 Sep 22 UTC

rmackay9

Copter Rover DevCallTopic ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.3 testing. For re…ference [Copter-4.3 project](https://github.com/ArduPilot/ardupilot/projects/25), [Copter/Rover-4.2 issues](https://github.com/ArduPilot/ardupilot/issues/20192) Reports requiring investigation - [ ] LAND not slowing down? ([discussion](https://discuss.ardupilot.org/t/copter-4-3-6-released/99269)) - [ ] RTL_SPEED not being obeyed? (reported by lthall) - [ ] CSRF on Matek h743 slim ([discussion](https://discuss.ardupilot.org/t/copter-4-3-5-released/98158/10)) - [ ] Yaapu telemetry failing somehow related to 2nd battery ([discussion](https://discuss.ardupilot.org/t/copter-4-3-5-rc1-released-for-beta-testing/97674)) - [ ] KDECAN not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/22952), [discussion](https://discuss.ardupilot.org/t/kdecan-telemetry-not-working-in-4-3-series-firmware/96730)) - [ ] internal error on takeoff ([discussion](https://discuss.ardupilot.org/t/consistently-getting-internal-error-0x100000-i-57-flow-of-ctrl/95839)) - [ ] waiting for terrain data in stabilize mode with ter_pend = 0 ([discussion](https://discuss.ardupilot.org/t/prearm-waiting-for-terrain-data-i-couldnt-get-rid-of-the-error/95415/19)) - [ ] trajectory discrepancy in Non-GPS ([discussion](https://discuss.ardupilot.org/t/huge-trajectory-tracking-error-when-using-position-velocity-typemask/95483)) - [ ] baro drift before takeoff leads to flip ([discussion](https://discuss.ardupilot.org/t/barometer-drift-before-takeoff/95436)) - [ ] balancebot not protecting backwards? ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta5-available-for-beta-testing/93379/7)) Copter specific issues (confirmed to be real) - [ ] RTL_SPEED does not work if WPNAV_SPEED adjusted ([also in 4.4 issues list](https://github.com/ArduPilot/ardupilot/issues/23192), [PR](https://github.com/ArduPilot/ardupilot/pull/23220)) - [ ] NMEA Output GGA message bug ([issue](https://github.com/ArduPilot/ardupilot/issues/23157)) - [ ] Copter do-change-speed mission command not working after takeoff command ([discussion](https://discuss.ardupilot.org/t/mission-ignoring-do-change-speed-flying-wpnav-speed-instead/90815), [issue](https://github.com/ArduPilot/ardupilot/issues/21080)) -- existing issue in 4.2 as well Rover specific (confirmed to be real) - [ ] RoverS-Curves don't track a straight line as well as L1 ([issue](https://github.com/ArduPilot/ardupilot/issues/22183)) - [ ] internal error when using GPS-for-yaw ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta2-has-been-released/91551/3)) - [ ] MP basic tuning screen needs updating for S-Curves ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta1-released/90783/4)) GCS specific issues (confirmed to be real) - [ ] Mission Planner needs updates for MNT1_ param name changes ([Plane user issue](https://github.com/ArduPilot/ardupilot/issues/21989), [Copter](https://discuss.ardupilot.org/t/gimbal-configuration-is-not-possible/93396/11)) Wiki related requests: - none Enhancement Requests (may or may not be done) - [ ] Servo pitch+yaw gimbal should use pitch servo to correct yaw when vehicle is rolled 90deg ([discussion](https://discuss.ardupilot.org/t/gimbal-poi-feature/92234/7), [enhancement request](https://github.com/ArduPilot/ardupilot/issues/22440)) -- future enhancement --- Resolved Issues - [x] Rover-4.4.0 with RTK UM980 doesn't find GPS ([discussion](https://discuss.ardupilot.org/t/about-rtk-module-supporting/95348)) -- pin out diagram was incorrect - [x] USD1 rangefinder on CAN interferes with DroneCAN GPS ([discussion](https://discuss.ardupilot.org/t/unable-to-use-gps-and-rangefinder-on-can-ports-1-and-2/97535/3)) -- user config error - [x] AHRS_TRIM_XY over 7.5 deg interferes with landing detector -- resolved in Copter-4.3.5-rc1 - [x] duplicate log FMT messages ([issue](https://github.com/ArduPilot/ardupilot/issues/22662), [PR](https://github.com/ArduPilot/ardupilot/pull/22670)) -- resolved in master - [x] Gremsy driver sending gimbal feed-forward values when vehicle is disarmed and pilot provides yaw input ([PR](https://github.com/ArduPilot/ardupilot/pull/22604)) -- resolved for 4.3.4 - [x] Surface Tracking oscillation with US-D1 lidar ([discussion](https://discuss.ardupilot.org/t/massive-amounts-of-noise-on-us-d1-radar-rangefinder-leads-to-erratic-altitude-hold/93132)) - [x] Surface Tracking using raw lidar instead of filt or interpolated leads to momentary fast climb ([PR](https://github.com/ArduPilot/ardupilot/pull/22611)) -- resolved for 4.3.4 - [x] Internal Error I:917 ([discussion1](https://discuss.ardupilot.org/t/internal-errors-0x100000-l-917-flow-of-ctr/87033/3), [discussion2](https://discuss.ardupilot.org/t/internal-errors-0x100000-i-921-flow-of-ctr-twitching-motion-in-loiter-during-forward-flight/93126), [discussion3](https://discuss.ardupilot.org/t/prearm-internal-errors-0x100000-l-921-flow-of-ctrl/93986), [PR](https://github.com/ArduPilot/ardupilot/pull/22298)) -- resolved for Copter-4.3.3-rc1 - [x] gimbal yaw jumps to far left when RC input > 1700 ([issue](https://github.com/ArduPilot/ardupilot/issues/22225), [PR](https://github.com/ArduPilot/ardupilot/pull/22442)) -- resolved for 4.3.3-rc1 - [x] baro alt error 5808m ([discussion1](https://discuss.ardupilot.org/t/copter-4-3-1-rc1-available-for-beta-testing/93378/7), [discussion2](https://discuss.ardupilot.org/t/prearm-error-gps-alt-error-5850m-see-baro-alterr/94099/3)) -- needed to set BARO_OPTIONS = 1 - [x] Kakute H7 V2 config error ([discussion](https://discuss.ardupilot.org/t/holybro-kakute-h7-v2-config-error-ins-unable-to-initialise-driver/92003)) -- resolved for 4.3.0-beta3 - [x] Arming check for slow loop rate triggering during motor test and compassmot ([issue](https://github.com/ArduPilot/ardupilot/issues/22388), [PR to revert for 4.3](https://github.com/ArduPilot/ardupilot/pull/22413)) - [x] message rates from a file not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/22361), [PR](https://github.com/ArduPilot/ardupilot_wiki/pull/4820)) -- wiki dev docs were wrong, fixed with PR - [x] slow param download with Pixracer on 4.3 vs 4.2 ([discussion](https://discuss.ardupilot.org/t/slow-parameter-loading-in-4-3/94075/3)) -- cannot reproduce, no response to request for logs - [x] AHRS and GPS differ pre-arm when doing non-GPS nav ([issue](https://github.com/ArduPilot/ardupilot/issues/22383), [PR](https://github.com/ArduPilot/ardupilot/pull/22393)) -- resolved for 4.3.3-rc1 - [x] SBus output not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-3-0-released/92530/14)) -- could not reproduce, receiver outputting SERIAL_CONFIG_8E1I instead of SERIAL_CONFIG_8E2I - [x] Gremsy gimbal not reaching Pitch limits in RC_Targetting (angle mode) ([discussion](https://discuss.ardupilot.org/t/ardupilot-4-3-gremsy-gimbal-improvements-testers-wanted/86479/38)) -- no logs, cannot progress - [x] Sporty takeoff ([discussion](https://discuss.ardupilot.org/t/feedback-and-assistance-with-new-takeoff-behaviour/94121)) -- change in behaviour, Leonard says param changes fix it - [x] prearm RNGFND1_PIN=103, set SERVO3_FUNCTION=-1. ([discussion](https://discuss.ardupilot.org/t/copter-4-3-0-released/92530/14), [PR](https://github.com/ArduPilot/ardupilot/pull/22375)) -- resolved for Copter-4.3.3 - [x] boot fails if too many dshot LEDs ([issue](https://github.com/ArduPilot/ardupilot/issues/22263), [discussion](https://discuss.ardupilot.org/t/problem-in-copter-4-3-with-the-subsytem-led-preventing-the-drone-from-startup/93992)) -- classified by Andy as an enhancement request. - [x] Siyi A8 mount always unhealthy ([discussion](https://discuss.ardupilot.org/t/siyi-a8-mini-4k-ai-mini-zoom-gimbal-camera-ai-identify-tracking-4k-1-1-7-inch-8mp-sony-sensor-6x-zoom/92133/30), [PR](https://github.com/ArduPilot/ardupilot/pull/22313)) -- resolved for 4.3.1 - [x] AutoTune gains not loaded during pilot testing ([PR](https://github.com/ArduPilot/ardupilot/pull/22193)) -- resolved for 4.3.2 - [x] Solo gimbal not pointing down past 45 deg ([issue](https://github.com/ArduPilot/ardupilot/issues/22190)) -- RC6_TRIM issue - [x] Gimbal yaw-reset after pitch changed ([issue](https://github.com/ArduPilot/ardupilot/issues/22095)) -- QGC gimbal control issue - [x] wheel encoder noise ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta1-released/90783)) -- user frame issue. - [x] Gremsy gimbal overloaded with high update rate of vehicle attitude messages ([PR](https://github.com/ArduPilot/ardupilot/pull/22151)) -- resolved for 4.3.1-beta1 - [x] User can't find Benewake H30 lidar ([discussion](https://discuss.ardupilot.org/t/copter-4-3-0-released/92530/5)) -- not on sale yet - [x] SkyViper Journey broken (4.0.8 works, >4.1 does not) ([issue](https://github.com/ArduPilot/ardupilot/issues/21932), [PR](https://github.com/ArduPilot/ardupilot/pull/22134)) -- resolved for 4.3.1-beta1 - [x] request for help setting up secure boot ([discussion](https://discuss.ardupilot.org/t/secure-boot-support/90991)) - [x] Rover S-Curve tuning instructions ([wiki](https://ardupilot.org/rover/docs/rover-tuning-navigation.html)) - [x] AP_GPS: Auto baud detection broken for SBF, Novatel, GSOF, SITL ([issue](https://github.com/ArduPilot/ardupilot/issues/21771), [PR](https://github.com/ArduPilot/ardupilot/pull/21830)) -- resolved for beta2 - [x] DO_JUMP commands not initialised if wp set before arming ([PR](https://github.com/ArduPilot/ardupilot/pull/21769)) -- resolved for 4.3.0-beta2 - [x] RPM harmonic notch not working? ([issue](https://github.com/ArduPilot/ardupilot/issues/20898), [PR](https://github.com/ArduPilot/ardupilot/pull/21717)) -- resolved for beta2 - [x] MambaF405mk4 includes mini version? ([discussion](https://discuss.ardupilot.org/t/rover-4-3-0-beta1-released/90783/6)) - [x] Mount's default mode not working for SToRM32 MAVLink (also not working in 4.2) ([PR](https://github.com/ArduPilot/ardupilot/pull/21737)) -- fixed for beta2 - [x] NeoPixel LEDs on ESC1,2 on SkystarsH7HD not working ([discussion](https://discuss.ardupilot.org/t/copter-4-3-0-beta1-released/90782/10)) -- known hardware limitation related to PWM grouping

CraigElder · April 18, 2023, 4:08pm

Attendee count (max): 16

UTC1101 - common.xml: correct URL we use for board_types.txt by peterbarker · Pull Request #309 · ArduPilot/mavlink · GitHub

Reference our own boards document in mavlink
merged!

UTC1104 - mavproxy_console.py: use GLOBAL_POSITION_INT for hdg if no VFR_HUD by peterbarker · Pull Request #1173 · ArduPilot/MAVProxy · GitHub

mavproxy: use GLOBAL_POSITION_INT for hdg if no VFR_HUD
Console fixup
merged!

UTC1105 - map: use command_int when sending ROI by peterbarker · Pull Request #1154 · ArduPilot/MAVProxy · GitHub

Use command int for location in pointing gimbals
Merged!

UTC1105 - LED Output Thread by andyp1per · Pull Request #23019 · ArduPilot/ardupilot · GitHub

Use a thread for outputting LEDs
For long strings of ws8212 for example
Merged!

UTC1108 - ArduPlane: make Plane use more of RC_Channel library for mode switching by peterbarker · Pull Request #21178 · ArduPilot/ardupilot · GitHub

Share mode-changing code between Plane and other vehicles
auxiliary switches could create a stack of modes?
merged!

UTC1119 - Create data structure for beacon by peterbarker · Pull Request #22211 · ArduPilot/ardupilot · GitHub

Collect NavEKF3 beacon data into a structure
Should we wait for Paul?
Merged!

UTC1129 - AP_Motors: move Thrust Linearization functions and variables to own class by IamPete1 · Pull Request #22787 · ArduPilot/ardupilot · GitHub

AP_Motors: thrust linearisation to own class
Merged!
Baro?
- Still dependent on having a working baro….
- There is a path through AHRS to get the same data, we should use it so we can do clever things with GPS
- We should throw temperature in too!
merged!

UTC1132 - Plane: move guided roll, pitch and throttle overrides upto guided mode by IamPete1 · Pull Request #22926 · ArduPilot/ardupilot · GitHub

Move guided roll/pitch/throttle into guided mode
Merged!

UTC1136 - https://github.com/ArduPilot/ardupilot/pull/23186

Rudder arm in auto takeoff only after stick returns
Would be nice to have the same behaviour on Copter
- So yaw has to be re-centered before progressing past mot-spin-min
- QuadPlane already has this
- Airmode and/or AUTO_OPTIONS might have the same problem with rudder arming
Mode1 throttle on right, rudder-elev on left
- Elevator deflection happens a lot
  - Which stops arming
This one makes sure the arming doesn’t happen until it moves back
- No spin on Plane to indicate you’re armed
  - Maybe we could have a MOT_SPIN_ARM
No GCS and no OSD this PR gives you some arming indication by moving a control surface
Need to reset the waiting-for-neutral boolean
Need a flight options bit for the surface movements

UTC1159 - Plane: don't trigger RC failsafe until RC has been received for the first time by IamPete1 · Pull Request #23189 · ArduPilot/ardupilot · GitHub

Don’t trigger failsafe unless we have seen RC
Don’t allow arming until you have seen the transmitter
Turn off throttle failsafe to fly without transmitter to be able toarm?
- If someone turns off throttle failsafe and an RC transmitter is mis-detected tdue to floating pins then what happens?
  - Honour the input, which would be bad
Can also turn it to “enable no failsafe”
- Maybe RC_PROTOCOLS must be zero
Turn on plane/rc ordering matters
Copter doesn’t run failsafe checks until you arm
- We want to make sure failsafes work
  - Only way to know if things are right is to test them
- Copter failsafes but doesn’t take any action
Misdetection of a floating pin could cause an RC failsafe to occur in flight in Copter?
- Could change modes?
Stop running detection code by setting RC_PROTOCOLS to 0
Mandatory checks are now being done?
- Several ones we should be running
- Rc checks, opendroneid and serial protocol stuff
Documentation needed on how to fly with no rC

UTC0025 - GCS_MAVLink: deprecate use of MISSION_SET_CURRENT message by peterbarker · Pull Request #23232 · ArduPilot/ardupilot · GitHub

Allow mission-set-current to be compiled out of code
merged!

UTC0026 - AP_Compass: use new vector methods to make for more compact code by peterbarker · Pull Request #23323 · ArduPilot/ardupilot · GitHub

Use new vector methods to make for more compact code
merged!

UTC0027 - AP_Scripting: Add ability to read EFI state in scripts by RobertatPegasus · Pull Request #23361 · ArduPilot/ardupilot · GitHub

Allow EFI state to be read in scripts
1.2kB!
- Need to make these data accessors more efficient…
- Tables?
  - Bitfields are hard
- Range-checks are a bad idea?
  - Do it in the C++?
  - Type-based range checks rather than variable semantics

UTC0031 - .pre-commit: Enfore code style for AP_DDS by Ryanf55 · Pull Request #23454 · ArduPilot/ardupilot · GitHub

Enforce pre-commit in AP_DDS
Already did astyle in CI
Merged!
Are we adding barriers?
- Yes
- But it can also lower things if people actually use the pre-commit hooks

UTC0038 - AP_Camera: add zoom percent control by rmackay9 · Pull Request #23465 · ArduPilot/ardupilot · GitHub

Add camera zoom-percent-control
Rate control….
CubeOrange and Durandal aren’t sharing code in this PR?!
Maybe look at the elf diff to check out the shared code

UTC0052 - Copter update

Randy’s working on the 4.4 release notes
- PR will probably be in today
- Late tomorrow might be 4.4beta1
- Gps-for-yaw issues
  - We’ve got a patch to go back to an older method of doing things
  - Backsliding plane discarded compasses and dropped back to emergency yaw source which was 180-degrees out
  - Gsf can cause roll/pitch to go off in fbwa
  - Compass-less planes really want this patch
  - Tridge has an interface into replay logs for Python
  - Don’t fly a high-value aircraft on IMU-based-compasses only!
    - I.e. have a good working yaw sensor
Plane update
- Plane 4.4 son
- Attitude pitch/despitch in att
  - One takes into account trim/pitch cd
    - Use same pitch reference
  - Default TECS airspeed to something?
    - Uses cruise speed
    - Changed in quadplane for 4.3 to use the half-way between min and max
    - Landing at full trim speed by default at the moment!

UTC0106 - AP_DroneCAN: add length specifier to format print to keep g++ 7.5.0 happy by IamPete1 · Pull Request #23494 · ArduPilot/ardupilot · GitHub

7.5.0 broken Ubuntu 18
Will this work on stm32?!
- %hhu probably not on our in-builts?
- Should be using our own built-in functions…
We should to move to using our in-built snprintf
- That fixes the same problem being looked at here
Chibios uses a wrap list which would’ve changed behaviour
- Would’ve failed on stm32
mergeoncipass

UTC0115 - Use 3d velocity for airspeed health by Ryanf55 · Pull Request #23508 · ArduPilot/ardupilot · GitHub

Use 3d velocity for airspeed health
3d velocity from GPS rather than 2d
Airspeed is defined as speed along x axis
- But at high alphas that’s not right
- Support for modifying the airspeed measurements from pitot based on angle of attack?
  - LUA?
As soon as you exceed 45 degrees the maths go screwy
What happens in a tail-slide?
- What happens if you’re being blown downwind?
- Fly-forward/zero side-slip assumption is made in master and in this code
- Project along x-axis and use that?
- Data loop if you use your orientation here
  - Weak link
2D-fix case?
- Nah

UTC0125 - AP_HAL_ChibiOS: correct MatekH743 storage size by Hwurzburg · Pull Request #23530 · ArduPilot/ardupilot · GitHub

Correct MatekH743 storage size
2x128kB
Merged!

UTC0125 - make default FW approach land speed the same as Qplane by Hwurzburg · Pull Request #23531 · ArduPilot/ardupilot · GitHub

Fix plane approach speed fbwa_min and max rather than at trim
- Like quadplane
post-flare code needs to be adjusted

UTC0131 - Add convenient Quaternion::to_euler(Vector3f &rpy) by peterbarker · Pull Request #23514 · ArduPilot/ardupilot · GitHub

A convenience to_euler function
Merge based on experiment with x/y/z

UTC0139 - DroneCAN thing

MatekH743 single-bus CAN bug
Will be merged soon

UTC0139 - GSoC update

Applications are being reviewed
Some good applications came in!
Decisions need to be made by next Thursday

Attendee count (max): 16

UTC1101 - common.xml: correct URL we use for board_types.txt by peterbarker · Pull Request #309 · ArduPilot/mavlink · GitHub

UTC1104 - mavproxy_console.py: use GLOBAL_POSITION_INT for hdg if no VFR_HUD by peterbarker · Pull Request #1173 · ArduPilot/MAVProxy · GitHub

UTC1105 - map: use command_int when sending ROI by peterbarker · Pull Request #1154 · ArduPilot/MAVProxy · GitHub

UTC1105 - LED Output Thread by andyp1per · Pull Request #23019 · ArduPilot/ardupilot · GitHub

UTC1108 - ArduPlane: make Plane use more of RC_Channel library for mode switching by peterbarker · Pull Request #21178 · ArduPilot/ardupilot · GitHub

UTC1119 - Create data structure for beacon by peterbarker · Pull Request #22211 · ArduPilot/ardupilot · GitHub

UTC1129 - AP_Motors: move Thrust Linearization functions and variables to own class by IamPete1 · Pull Request #22787 · ArduPilot/ardupilot · GitHub

UTC1132 - Plane: move guided roll, pitch and throttle overrides upto guided mode by IamPete1 · Pull Request #22926 · ArduPilot/ardupilot · GitHub

UTC1136 - https://github.com/ArduPilot/ardupilot/pull/23186

UTC1159 - Plane: don't trigger RC failsafe until RC has been received for the first time by IamPete1 · Pull Request #23189 · ArduPilot/ardupilot · GitHub

UTC0025 - GCS_MAVLink: deprecate use of MISSION_SET_CURRENT message by peterbarker · Pull Request #23232 · ArduPilot/ardupilot · GitHub

UTC0026 - AP_Compass: use new vector methods to make for more compact code by peterbarker · Pull Request #23323 · ArduPilot/ardupilot · GitHub

UTC0027 - AP_Scripting: Add ability to read EFI state in scripts by RobertatPegasus · Pull Request #23361 · ArduPilot/ardupilot · GitHub

UTC0031 - .pre-commit: Enfore code style for AP_DDS by Ryanf55 · Pull Request #23454 · ArduPilot/ardupilot · GitHub

UTC0038 - AP_Camera: add zoom percent control by rmackay9 · Pull Request #23465 · ArduPilot/ardupilot · GitHub

UTC0052 - Copter update

UTC0106 - AP_DroneCAN: add length specifier to format print to keep g++ 7.5.0 happy by IamPete1 · Pull Request #23494 · ArduPilot/ardupilot · GitHub

UTC0115 - Use 3d velocity for airspeed health by Ryanf55 · Pull Request #23508 · ArduPilot/ardupilot · GitHub

UTC0125 - AP_HAL_ChibiOS: correct MatekH743 storage size by Hwurzburg · Pull Request #23530 · ArduPilot/ardupilot · GitHub

UTC0125 - make default FW approach land speed the same as Qplane by Hwurzburg · Pull Request #23531 · ArduPilot/ardupilot · GitHub

UTC0131 - Add convenient Quaternion::to_euler(Vector3f &rpy) by peterbarker · Pull Request #23514 · ArduPilot/ardupilot · GitHub

UTC0139 - DroneCAN thing

UTC0139 - GSoC update

UTC0141 - close